Sample processing system

Abstract

The invention discloses a sample processing system. The sample processing system comprises a cover removing module, a conveying module and a visual module, wherein the cover removing module comprises a cover removing device and a cover removing position; the visual module comprises a visual identification mechanism, a first identification position and a second identification position, and the conveying module is used for driving the sample bearing component to sequentially pass through the cover removing position and driving the sample bearing component to sequentially pass through the first identification position and the second identification position; the visual identification mechanism is used for acquiring a single image, and the controller determines whether the sample container located at the first identification position needs to be uncovered or not and whether the sample container located at the second identification position is uncovered successfully or not based on the single image. Whether the sample container located at the first identification position needs to be uncovered or not and whether the sample container located at the second identification position is uncovered or not can be determined through the single image obtained by the visual identification mechanism, and compared with the relative technology, the number of the visual identification mechanism can be reduced, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a sample processing system. Background Art

[0002] In the current sample processing system, a decapping device for removing the test tube cap and a visual recognition mechanism for assisting in decapping are usually included. In the related art, the sample processing system needs to be equipped with two visual recognition mechanisms, one of which is used to determine whether the test tube needs to be decapped before decapping, and the other is used to determine whether the test tube is successfully decapped after decapping. This solution requires the use of two visual recognition mechanisms, which is relatively costly. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a sample processing system that can reduce the number of visual recognition mechanisms and reduce costs.

[0004] The sample processing system according to an embodiment of the present invention includes:

[0005] A decapping module, comprising a decapping device and a decapping position, wherein the decapping device is used to decap a sample container located at the decapping position and carried on a sample carrying component;

[0006] A conveying module, used for driving the sample carrying component to move step by step according to a preset step length, so that the sample containers on the sample carrying component pass through the decapping position in sequence;

[0007] A visual module, comprising a visual recognition mechanism, a first recognition position and a second recognition position, wherein the first recognition position and the second recognition position are sequentially arranged along the moving direction of the sample carrying component, so that when the transmission module drives the sample carrying component to move, the sample container on the sample carrying component passes through the first recognition position and the second recognition position sequentially;

[0008] The controller is configured to control the visual recognition mechanism to acquire a single image after the conveying module drives the sample carrying component to move at least one of the preset steps, and the single image includes at least first image information of the sample container located at the first recognition position and second image information of the sample container located at the second recognition position. The controller is also configured to determine whether the sample container located at the first recognition position needs to be decapped based on the first image information, and determine whether the sample container located at the second recognition position is successfully decapped based on the second image information. When it is determined that the sample container located at the first recognition position is a sample container that needs to be decapped, the controller is also configured to control the decapping device to perform a decapping operation when the sample container that needs to be decapped is located at the decapping position.

[0009] The sample processing system according to the embodiment of the present invention has at least the following beneficial effects:

[0010] The controller can determine whether the sample container at the first recognition position needs to be uncapped and whether the sample container at the second recognition position is successfully uncapped by using a single image obtained by the visual recognition mechanism. Compared with the related technology, it can reduce the number of visual recognition mechanisms and reduce costs.

[0011] In other embodiments of the present invention, the first identification position, the cover removal position and the second identification position are sequentially arranged along the moving direction of the sample carrying member;

[0012] Alternatively, the first identification position and the cover removal position are sequentially arranged along the moving direction of the sample carrying member, and the second identification position and the cover removal position are at the same position;

[0013] Alternatively, the first identification position and the cover removal position are at the same position, and the cover removal position and the second identification position are arranged in sequence along the moving direction of the sample supporting component.

[0014] In other embodiments of the present invention, along the moving direction of the sample carrying member, the first identification position, the cover removal position and the second identification position are arranged in sequence, or the first identification position and the cover removal position are arranged in sequence, and the second identification position and the cover removal position are at the same position;

[0015] When the sample container located at the first identification position is a sample container that needs to be removed from the cover, controlling the decapping device to perform a decapping operation when the sample container that needs to be removed from the cover is located at the decapping position, including: controlling the conveying module to convey the sample container that needs to be removed from the first identification position to the decapping position, and then controlling the decapping device to perform a decapping operation on the sample container that needs to be removed from the cover.

[0016] In other embodiments of the present invention, along the moving direction of the sample carrying member, the first identification position and the cover removal position are arranged in sequence, and the second identification position and the cover removal position are at the same position;

[0017] When the controller determines based on the second image information that the sample container located at the decapping position is not successfully decapped, the controller is further configured to control the decapping device to perform a decapping operation on the sample container located at the decapping position again.

[0018] In other embodiments of the present invention, the sample carrying component includes a sample rack, the sample rack has a plurality of placement holes evenly arranged along a straight line direction, the placement holes are used to place the sample containers, and the preset step length is equal to the center distance between adjacent placement holes;

[0019] The method of controlling the visual recognition mechanism to acquire a single image after the transmission module drives the sample carrying component to move at least one preset step length comprises: controlling the visual recognition mechanism to acquire a single image after the transmission module drives the sample carrying component to move at least one preset step length.

[0020] In other embodiments of the present invention, the decapping device includes a clamping component, and the control of the decapping device to perform a decapping operation when the sample container to be decapped is located in the decapping position includes: the clamping component lifts the sample container to be decapped located in the decapping position and carried on the sample carrying component from the sample carrying component, and decapsulates the cover of the lifted sample container, and inserts the decapped sample container back into the sample carrying component.

[0021] In other embodiments of the present invention, the clamping component includes a first manipulator and a second manipulator, and the controller is configured to control the first manipulator to clamp the cover of the sample container that needs to be removed and is located at the decapping position and carried on the sample carrying component and lift it, and then control the second manipulator to clamp the body of the sample container that needs to be removed, and control the relative movement between the first manipulator and the second manipulator to separate the cover from the body, and control the second manipulator to insert the body back into the sample carrying component after the cover is separated from the body.

[0022] In other embodiments of the present invention, the sample processing system includes at least one of the following schemes:

[0023] The controller is further configured to acquire a height of the sample container that needs to be uncovered relative to a reference based on the first image information, and control the clamping component to clamp the cover of the sample container that needs to be uncovered based on the height;

[0024] The controller is further configured to acquire an inclination angle of the sample container that needs to be removed from the cover relative to a reference based on the first image information, and control the clamping component to clamp the cover of the sample container that needs to be removed from the cover based on the inclination angle;

[0025] The controller is further configured to control the visual recognition mechanism to obtain the sample barcode information of the sample container and / or the sample quality information of the sample to be tested during the process in which the clamping component starts to lift the sample container that needs to be removed and is located at the removal position and carried on the sample carrying component from the sample carrying component until the cover of the lifted sample container is removed;

[0026] The controller is also configured to control the visual recognition mechanism to obtain the barcode orientation information of the sample container during the process in which the clamping component lifts the sample container that needs to be removed and is located at the removal position and carried on the sample carrying component from the sample carrying component until the cover of the lifted sample container is removed, and control the clamping component to drive the sample container to rotate based on the barcode orientation information so that the barcode of the sample container faces a preset direction, and insert the sample container with the barcode facing the preset direction back into the sample carrying component;

[0027] The controller is further configured to, after the clamping component removes the cover from the lifted sample container, control the visual recognition mechanism to obtain the height of the sample container relative to the reference before it is inserted back into the sample carrying component, and control the clamping component to drive the sample container to move downward based on the height of the sample container relative to the reference before it is inserted back into the sample carrying component;

[0028] The controller is also configured to control the visual recognition mechanism to obtain the height of the sample container relative to a reference after the clamping component inserts the uncovered sample container back into the sample carrying component, and to output a warning message when the height of the sample container relative to the reference after being inserted back into the sample carrying component does not conform to a preset range, and / or to control the clamping component to release the sample container and move upward relative to the sample container, and then control the clamping component to clamp the sample container and drive the sample container to move downward.

[0029] In other embodiments of the present invention, the clamping component includes a first manipulator, the first manipulator is used to clamp the cover of the sample container that needs to be removed and is located at the removal position and carried on the sample carrying component, the removal module also includes a first sensor, the first sensor is used to detect the force applied to the first manipulator when performing the removal operation; the controller is further configured to determine whether the sample container is successfully removed based on the force, and when it is determined that the sample container is not successfully removed based on at least one of the second image information and the detection result of the first sensor, the controller outputs a warning message;

[0030] Alternatively, the clamping component includes a first manipulator, which is used to clamp the cover of the sample container that needs to be decapped and is located at the decapping position and carried on the sample carrying component. The decapping module also includes a recovery device and a second sensor. The controller is also configured to control the first manipulator to transfer the clamped cover to the recovery device after performing the decapping operation, and control the second sensor to detect whether the cover enters the recovery device after the first manipulator performs the transfer operation; when it is determined based on the second image information that the sample container is not successfully decapped, and / or when it is determined based on the detection result of the second sensor that the cover has not entered the recovery device, the controller outputs a warning message.

[0031] In other embodiments of the present invention, the sample processing system includes at least one of the following schemes:

[0032] The controller is further configured to input the single image into a neural network, and determine whether the sample container is successfully decapped based on a result output by the neural network;

[0033] The controller is further configured to obtain the first image information when the same sample container is located at the first identification position and the second image information when the same sample container is located at the second identification position, and determine whether the sample container is successfully decapped based on the height difference of the same sample container determined by the first image information when the same sample container is located at the first identification position and the second image information when the same sample container is located at the second identification position;

[0034] The controller is also configured to obtain the first image information when the same sample container is located at the first identification position and the second image information when the same sample container is located at the second identification position, and determine whether the sample container is successfully removed based on the color change of the same sample container determined by the first image information when located at the first identification position and the second image information when located at the second identification position.

[0035] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0037] Figure 1 is a three-dimensional schematic diagram of a sample processing system in an embodiment of the present invention;

[0038] Figure 2 for Figure 1 A front view of the sample processing system;

[0039] Figure 3 Schematic diagram of the decapping step in an embodiment of the present invention.

[0040] Reference numerals:

[0041] A decapping module 100, a decapping device 110, a first manipulator 111, a second manipulator 112, and a decapping position 120;

[0042] Visual module 200, visual recognition mechanism 210, first recognition position 220, second recognition position 230;

[0043] Transmission module 300;

[0044] Sample holding member 400;

[0045] Sample container 500. DETAILED DESCRIPTION

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0048] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0049] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0050] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0051] The sample containers entering the sample analysis pipeline include containers with covers and containers without covers, wherein the sample containers with covers need to be uncapped before they can be sent to the sample analyzer for testing. The related technology uses two visual mechanisms to determine whether the sample container needs to be uncapped before uncapping and whether the uncapping is successful after uncapping, which is costly. To solve this problem, the present invention proposes a sample processing system, which uses images taken by a single visual mechanism to determine whether the sample container needs to be uncapped and whether the sample container is successfully uncapped, which can reduce costs. The following is a specific description in conjunction with the accompanying drawings and embodiments.

[0052] Reference Figure 1 , Figure 2 The sample processing system in the first embodiment of the present invention includes a decapping module 100, a vision module 200 and a conveying module 300. The decapping module 100 is used to decap the sample container 500, the vision module 200 is used to capture an image of the sample container 500, and the conveying module 300 is used to convey the sample container 500.

[0053] The decapping module 100 includes a decapping device 110 and a decapping position 120. When the sample container 500 containing the sample and carried on the sample carrying component 400 is in the decapping position 120, the decapping device 110 can decap the sample container 500 to separate the cover from the body of the sample container 500. It should be noted that different decapping methods can be used for different types of sample containers. For example, for a cover connected by interference fit, the cover can be directly driven to move in the vertical direction. For a cover connected by a thread, the cover can be driven to rotate and then move in the vertical direction.

[0054] The conveying module 300 is used to drive the sample carrying part 400 to move step by step according to a preset step length, so that the sample containers 500 on the sample carrying part 400 pass through the decapping position 120 in sequence. In some embodiments, the sample carrying part 400 has a plurality of placement holes, and the placement holes are used to place a single sample container 500. With the driving of the conveying module 300, each placement hole passes through the decapping position 120 in sequence, so that the sample container 500 placed in the placement hole also passes through the decapping position 120 in sequence. It can be understood that when the sample container 500 that needs to be decapped reaches the decapping position 120, the conveying module 300 suspends the conveying, and when the sample container at the decapping position 120 is decapped, the conveying module 300 suspends the conveying and conveys again to allow the next sample container 500 to reach the decapping position 120.

[0055] The visual module 200 includes a visual recognition mechanism 210, a first recognition position 220 and a second recognition position 230. The first recognition position 220 and the second recognition position 230 are arranged in sequence along the moving direction of the sample supporting component 400, so that when the transmission module 300 drives the sample supporting component 400 to move, the sample container 500 on the sample supporting component 400 passes through the first recognition position 220 and the second recognition position 230 in sequence. In other words, each sample container 500 will first pass through the first recognition position 220 and then pass through the second recognition position 230.

[0056] The controller of this embodiment is configured to control the visual recognition mechanism 210 to acquire a single image after the conveying module 300 drives the sample carrier 400 to move at least one preset step length, specifically, to control the visual recognition mechanism 210 to acquire a single image after each placement hole reaches the decapping position 120. The acquired single image includes at least the first image information of the sample container 500 located at the first recognition position 220 and the second image information of the sample container 500 located at the second recognition position 230. It can be understood that since the first recognition position 220 and the second recognition position 230 are sequentially arranged along the moving direction of the sample carrier 400, the sample container 500 at the first recognition position 220 and the sample container 500 at the second recognition position 230 that appear in the single image are different containers. Specifically, except for the sample container 500 that originally has no cover, the sample container 500 that appears in the first recognition position 220 is a sample container that has not been decapped, and the sample container 500 that appears in the second recognition position 230 is a sample container that has been decapped.

[0057] The controller can determine whether the sample container 500 located at the first identification position 220 needs to be removed based on the first image information, and determine whether the sample container 500 located at the second identification position 230 is successfully removed based on the second image information. When the controller determines through the first image information that the sample container 500 located at the first identification position 220 is a sample container 500 that needs to be removed, the corresponding information will be recorded in the controller. When the sample container 500 that needs to be removed is located at the removal position, the controller controls the removal device 110 to perform the removal operation based on the corresponding information.

[0058] In this embodiment, the controller can simultaneously determine whether the sample container 500 located at the first identification position 220 needs to be uncovered, and whether the sample container located at the second identification position 230 has been successfully uncovered, through a single image obtained by the visual recognition mechanism 210. The sample processing system only needs to set up a single visual recognition mechanism to complete the aforementioned recognition operation, which can reduce the number of visual recognition mechanisms and reduce costs compared to related technologies.

[0059] Based on the first embodiment, refer to Figure 2 In some embodiments of the present invention, the first identification position 220, the decapping position 120 and the second identification position 230 are sequentially arranged along the moving direction of the sample carrier 400. In other words, the first identification position 220, the decapping position 120 and the second identification position 230 of this embodiment are three different positions respectively, and the sample container 500 sequentially determines whether to decap at the first identification position 220, decaps at the decapping position 120, and determines whether decapping is successful at the second identification position 230. It should be noted that the intervals between the first identification position 220, the decapping position 120 and the second identification position 230 are not limited.

[0060] In other embodiments, the first identification position 220 and the decapping position 120 are arranged in sequence along the moving direction of the sample supporting component 400, and the second identification position 230 and the decapping position 120 are at the same position. In other words, this embodiment includes two independent positions, one of which serves as the first identification position 220, and the other serves as the decapping position 120 and the second identification position 230. After the sample container 500 determines whether decapping is required at the first identification position 220, it moves to another position to decap and determine whether the decapping is successful.

[0061] In other embodiments, the first identification position 220 and the decapping position 120 are at the same position, and the decapping position 120 and the second identification position 230 are arranged in sequence along the moving direction of the sample supporting component 400. In other words, this embodiment includes two independent positions, one of which serves as the first identification position 220 and the decapping position 120, and the other serves as the second identification position 230. After the sample container 500 determines whether it needs to be decapped and performs the decapping operation at the same position, it moves to another position to determine whether the decapping is successful.

[0062] On the basis of the first embodiment, in some embodiments of the present invention, when the first identification position 220, the cover removal position 120 and the second identification position 230 are sequentially arranged along the moving direction of the sample supporting component 400, or the first identification position 220 and the cover removal position 120 are sequentially arranged along the moving direction of the sample supporting component 400, and the second identification position 230 and the cover removal position 120 are at the same position, that is, there is a gap between the first identification position 220 and the cover removal position 120, the aforementioned “when the sample container 500 at the first identification position 220” When the sample container 500 that needs to be uncapped is located at the uncapping position 120, the decapping device 110 is controlled to perform the decapping operation on the sample container 500 that needs to be uncapped. In other words, after the sample container 500 is determined to need to be uncapped at the first identification position 220, it needs to move a certain distance before it can reach the uncapping position 120 for uncapping.

[0063] It can be understood that when the first identification position 220 and the decapping position 120 are in the same position, the sample container 500 can be decapped without being moved after the first identification position 220 determines that it needs to be decapped.

[0064] On the basis of the first embodiment, in some embodiments of the present invention, when the first identification position 220 and the decapping position 120 are sequentially arranged along the moving direction of the sample carrier 400, and the second identification position 230 and the decapping position 120 are at the same position, if the controller determines based on the second image information that the sample container 500 located at the decapping position 120 has not been successfully decapped, since the sample container 500 has not yet left the decapping position 120, the controller can also control the decapping device 110 to perform a decapping operation on the sample container 500 again. Further, after the decapping operation is performed again, the visual recognition mechanism 210 can also be controlled to take a picture again to determine whether the decapping is successful.

[0065] On the basis of the first embodiment, in some embodiments of the present invention, the sample supporting component 400 includes a sample rack, and the sample rack has a plurality of placement holes evenly arranged in a straight line direction. In this embodiment, the preset step length of the movement of the sample supporting component 400 is equal to the center distance between adjacent placement holes. The aforementioned "controlling the visual recognition mechanism 210 to acquire a single image after the transmission module 300 drives the sample supporting component 400 to move at least one preset step length" specifically means: controlling the visual recognition mechanism 210 to acquire a single image after the transmission module 300 drives the sample supporting component 400 to move a preset step length. In this way, each placement hole can accurately stay in the de-capping position 120.

[0066] It should be noted that the preset step size can also be other distances, for example, equal to half of the center distance between adjacent placement holes. In this case, the controller will control the visual recognition mechanism 210 to acquire a single image after the transmission module 300 drives the sample carrying component 400 to move two preset steps.

[0067] On the basis of the first embodiment, the decapping device 110 in some embodiments of the present invention includes a clamping component, which is used to remove the cover of the sample container 500. The aforementioned "the decapping device 110 includes a clamping component, which controls the decapping device 110 to perform a decapping operation when the sample container 500 that needs to be decapped is located in the decapping position 120" specifically means: the clamping component lifts the sample container 500 that needs to be decapped and is carried on the sample carrying component 400 and is located in the decapping position 120 from the sample carrying component 400, and decaps the cover of the lifted sample container 500, and inserts the decapped sample container 500 back into the sample carrying component 400.

[0068] Reference Figure 3 Specifically, it works as follows: when the sample container 500 placed on the sample carrier 400 reaches the decapping position 120, the clamping component first lifts the sample container 500 from the sample carrier 400, so that most of the sample container 500 extends out of the sample carrier 400, or is completely separated from the sample carrier 400, and then the clamping component decaps the cover of the lifted sample container 500. After the decapping operation is completed, the clamping component inserts the decapped sample container 500 back into the sample carrier 400. After the sample container 500 is inserted back into the sample carrier 400, the conveying module 300 drives the sample carrier 400 to move so that the next sample container 500 to be decapped reaches the decapping position 120. Repeating the above steps can realize the decapping of some or all sample containers 500 in the sample carrier 400.

[0069] When the decapping device 110 includes a clamping component, the clamping component in some embodiments of the present invention includes a first manipulator 111 and a second manipulator 112, the first manipulator 111 is used to clamp the cover of the sample container 500, and the second manipulator 112 is used to clamp the body of the sample container 500, and the first manipulator 111 and the second manipulator 112 can move relative to each other to separate the cover from the body.

[0070] The first manipulator 111 and the second manipulator 112 have clamps, wherein the first manipulator 111 is located above the second manipulator 112, the clamps of the first manipulator 111 are arranged vertically, and the clamps of the second manipulator 112 are arranged horizontally, and the clamps of the objects can be clamped by opening and closing the clamps. The first manipulator 111 and the second manipulator 112 both include corresponding driving members to achieve relative movement, wherein the first manipulator 111 includes a first driving member capable of driving the clamps to move in a vertical direction, and the second manipulator 112 includes a second driving member capable of driving the clamps to move in a vertical direction, and when a rotating cover removal scheme is adopted, at least one of the first manipulator 111 and the second manipulator 112 also includes a third driving member for driving the clamps to rotate.

[0071] In some specific embodiments, the first manipulator 111 and the second manipulator 112 remove the cover by relative rotation, which is applicable to the sample container 500 in which the body and the cover are connected by threads, for example, the first manipulator 111 drives the cover to rotate, and the second manipulator 112 clamps the body and remains stationary during the unscrewing process, for example, the second manipulator 112 drives the body to rotate, and the first manipulator 111 clamps the cover and remains stationary during the unscrewing process, for example, the first manipulator 111 and the second manipulator 112 both rotate. In this embodiment, after the cover is unscrewed, the first manipulator 111 can drive the cover to move upward to separate the body from the cover, or the second manipulator 112 can drive the body to move downward to separate the body from the cover, or the first manipulator 111 can drive the cover to move upward, and the second manipulator 112 can drive the body to move downward to separate the body from the cover.

[0072] In other specific embodiments, the first manipulator 111 and the second manipulator 112 remove the cover by relative movement, which is suitable for a sample container 500 in which the body and the cover are connected by interference fit. For example, the first manipulator 111 directly drives the cover to move upward to separate the body from the cover. For another example, the second manipulator 112 directly drives the body to move downward to separate the body from the cover. For another example, the two manipulators move in opposite directions to separate the body from the cover.

[0073] Based on the structure of a clamping component described above, the clamping component in the embodiment of the present invention removes the lid as follows: first, the first manipulator 111 clamps the lid of the sample container 500 located at the decapping position 120 and carried on the sample carrying component 400, and drives the entire sample container 500 to lift upward, then the second manipulator 112 clamps the body of the lifted sample container 500, the first manipulator 111 and the second manipulator 112 move relative to each other to separate the lid from the body, and finally the second manipulator 112 drives the body to be inserted back into the sample carrying component 400, and the first manipulator 111 drives the lid to move to the lid throwing position.

[0074] In addition to determining whether the sample container 500 needs to be uncapped and whether the uncapping is successful through the aforementioned single image, the visual recognition mechanism 210 can also obtain other information to assist the controller in performing other controls. For example, when the decapping device 110 includes a clamping component, the controller in some embodiments of the present invention is also configured to obtain the height of the sample container 500 that needs to be uncapped relative to the reference based on the first image information, and control the clamping component to clamp the cover of the sample container 500 that needs to be uncapped based on the height. It should be noted that the reference referred to in the present invention can be a point, line or surface on the sample carrying component 400, or a point, line or surface of a corresponding component on the decapping device 110 or the conveying module 300. For example, the top surface of the sample carrying component 400 can be used as a reference, and the height of the sample container 500 relative to the reference can be understood as the height of the sample container 500 extending out of the sample carrying component 400. Through the height information of this embodiment, the controller can control the distance that the first manipulator 111 moves downward.

[0075] In other embodiments, the controller is further configured to obtain the tilt angle of the sample container 500 to be removed from the cover relative to the reference based on the first image information, and control the clamping component to clamp the cover of the sample container 500 to be removed from the cover based on the tilt angle. The reference referred to here can be understood with reference to the aforementioned embodiment. Through the tilt angle information of this embodiment, the controller can control the downward movement distance of the first manipulator 111 and / or the opening degree of the first manipulator 111.

[0076] In other embodiments, during the process in which the clamping component starts to lift the sample container 500 that needs to be removed and is located at the removal position 120 and is carried on the sample carrying component 400, from the sample carrying component 400 until the cover of the lifted sample container 500 is removed, the controller is also configured to control the visual recognition mechanism 210 to obtain the sample barcode information of the sample container 500 and / or the sample quality information of the sample to be tested. It should be noted that the sample barcode information referred to in the present invention includes information obtained after reading the barcode on the sample container, such as patient information associated with the sample. The sample quality information referred to in the present invention includes information that can directly or indirectly reflect the quality of the sample, and the sample quality information can be used to determine whether the sample to be tested meets the requirements of subsequent testing.

[0077] In this embodiment, the visual recognition mechanism 210 obtains information at the decapping position 120 and when the sample container 500 is lifted to the decapping stage. In this way, the corresponding driving mechanism of the decapping device 110 can not only drive the sample container 500 to lift, but also assist the visual module 200 in obtaining information. Moreover, the sample container 500 will not be blocked by the sample supporting component 400 after being lifted, which can facilitate the visual recognition mechanism 210 to obtain accurate information.

[0078] In other embodiments, during the process in which the clamping component starts to lift the sample container 500 that needs to be removed and is located at the removal position 120 and carried on the sample carrying component 400 from the sample carrying component 400 until the cover of the lifted sample container 500 is removed, the controller is further configured to control the visual recognition mechanism 210 to obtain the barcode orientation information of the sample container 500, and control the clamping component to drive the sample container 500 to rotate based on the barcode orientation information so that the barcode of the sample container 500 faces a preset direction, and insert the sample container 500 with the barcode facing the preset direction back into the sample carrying component 400. In this way, the barcodes of the sample containers 500 inserted back into the sample carrying component 400 all face the preset direction, so as to facilitate the acquisition of the barcode information in subsequent links.

[0079] It should be noted that the visual recognition mechanism 210 can capture other images different from the aforementioned single image, and the controller obtains the aforementioned sample barcode information, sample quality information of the sample to be tested, barcode orientation information, etc. based on the other images of the visual recognition mechanism 210.

[0080] In other embodiments, after the clamping component removes the cover of the lifted sample container 500, the controller is further configured to control the visual recognition mechanism 210 to obtain the height of the sample container 500 relative to the reference before the sample carrier 400 is inserted back, and based on the height of the sample container 500 relative to the reference before the sample carrier 400 is inserted back, the clamping component is controlled to drive the sample container 500 to move downward, and the reference referred to here can be understood with reference to the above embodiments. Through the height, the controller can control the distance that the clamping component drives the sample container 500 to move downward.

[0081] It should be noted that when the second identification position 230 and the decapping position 120 are at the same position, the controller can obtain the height of the sample container 500 relative to the reference before it is inserted back into the sample supporting member 400 based on the second image information. Of course, the controller can also control the visual recognition mechanism 210 to capture other images to obtain the aforementioned height.

[0082] In other embodiments, after the clamping component inserts the uncovered sample container 500 back into the sample holding component 400, the controller is further configured to control the visual recognition mechanism 210 to obtain the height of the sample container 500 relative to the reference, and output a warning message when the height of the sample container 500 relative to the reference after being inserted back into the sample holding component 400 does not conform to a preset range. The reference referred to herein can be understood with reference to the aforementioned embodiments. Through this height, the controller can determine whether the uncovered sample container 500 is inserted in place. If the height of the sample container 500 relative to the reference after being inserted back into the sample holding component 400 does not conform to a preset range, the controller outputs a warning message to remind the inspector. It should be noted that the warning message referred to in the present invention may be sound, photoelectric, or a warning graphic or text displayed on a display device.

[0083] It should be noted that when the second identification position 230 and the decapping position 120 are at the same position, the controller can obtain the height of the sample container 500 relative to the reference after the sample carrier 400 is inserted back based on the second image information. Of course, the controller can also control the visual recognition mechanism 210 to capture other images to obtain the aforementioned height.

[0084] In other embodiments, after the clamping component inserts the uncovered sample container 500 back into the sample supporting component 400, the controller is further configured to control the visual recognition mechanism 210 to obtain the height of the sample container 500 relative to the reference, and when the height of the sample container 500 relative to the reference after being inserted back into the sample supporting component 400 does not conform to a preset range, the controller controls the clamping component to perform an reinsertion action. Specifically, the controller first controls the clamping component to release the sample container 500 and move upward relative to the sample container 500, and then controls the clamping component to clamp the sample container 500 and drive the sample container 500 to move downward, so that the sample container 500 moves downward again on the basis of the previous movement, thereby ensuring that the sample container 500 has a sufficient insertion depth.

[0085] It should be noted that when the clamping component includes the aforementioned first robot 111 and the second robot 112 , the aforementioned reinsertion action can be performed by the second robot 112 .

[0086] It should also be noted that when the second identification position 230 and the decapping position 120 are at the same position, the controller can obtain the height of the sample container 500 relative to the reference after the sample carrier 400 is inserted back based on the second image information. Of course, the controller can also control the visual recognition mechanism 210 to capture other images to obtain the aforementioned height.

[0087] On the basis of the first embodiment, the clamping component in some embodiments of the present invention includes a first manipulator 111. The first manipulator 111 of this embodiment can be understood with reference to the aforementioned embodiment. The decapping module also includes a first sensor, which is used to detect the force applied to the first manipulator 111 when performing the decapping operation. Specifically, the first sensor can be a force sensor, thereby directly detecting the force applied to the first manipulator 111. When the first manipulator 111 decaps by rotating, the first sensor can also be a torque sensor, which indirectly detects the force by detecting the torque.

[0088] The controller is also configured to determine whether the sample container 500 is successfully uncapped based on the applied force. For example, the change trend or specific value of the applied force during normal uncapping can be preset in the controller. When the change trend or specific value of the applied force during the actual uncapping process matches the preset change trend or specific value, it is determined that the uncapping is successful. If they do not match, it is determined that the uncapping fails. In this embodiment, image recognition and sensor detection can be combined to jointly determine whether the uncapping is successful to improve the accuracy of the judgment. Specifically, when it is determined that the sample container 500 is not successfully uncapped based on at least one of the second image information and the detection result of the first sensor, the controller outputs a warning message.

[0089] On the basis of the first embodiment, the clamping component in other embodiments of the present invention includes a first manipulator 111. The first manipulator 111 of this embodiment can be understood with reference to the aforementioned embodiment. The decapping module also includes a recycling device and a second sensor. The recycling device is used to recycle the separated cover, which is arranged on one side of the decapping position 120. The second sensor is used to detect whether the separated cover enters the recycling device. The second sensor can be a presence detection sensor, such as a through-beam photoelectric sensor or a reflective photoelectric sensor. The second sensor can be installed at the entrance of the recycling device. When the separated cover passes through the entrance, it can block or reflect the sensing light, thereby triggering the second sensor.

[0090] The controller is also configured to control the first manipulator 111 to transfer the clamped cover to the recovery device after performing the decapping operation. Specifically, the first manipulator 111 drives the cover to move horizontally above the entrance of the recovery device, and then the first manipulator 111 opens, and the cover falls into the recovery device under the action of gravity. After the first manipulator 111 performs the transfer operation, the controller controls the second sensor to detect whether the cover enters the recovery device after the first manipulator 111 performs the transfer operation. When it is determined based on the second image information that the sample container 500 is not successfully decapped, and / or, based on the detection result of the second sensor, it is determined that the cover has not entered the recovery device, the controller outputs a warning message.

[0091] On the basis of the first embodiment, the controller in other embodiments of the present invention is further configured to output a single image to a neural network, and determine whether the cover is removed successfully in the sample container 500 based on the result output by the neural network. Specifically, the neural network includes a preset sample recognition model, and the sample recognition model includes: a sample feature extraction layer, a sample image recognition layer, and a sample mapping layer. The controller performs feature extraction processing on the single image through the sample feature extraction layer to obtain image features, performs image recognition processing on the image features through the sample image recognition layer, and matches the image features processed by image recognition with a preset mapping table through the sample mapping layer to determine whether the cover is removed successfully.

[0092] For example, the initial recognition model can be an image recognition model based on a convolutional neural network (CNN) algorithm. Data feature extraction and preprocessing are performed through the data input layer of the convolutional neural network, data calculation and image feature recognition processing are performed through the convolution calculation layer of the convolutional neural network, and nonlinear mapping and loss convergence are performed through the activation layer of the convolutional neural network. In addition, the amount of model data and parameters can be compressed through the pooling layer to reduce overfitting.

[0093] Based on the first embodiment, the controller in other embodiments of the present invention is also configured to obtain first image information when the same sample container 500 is located at the first identification position 220 and second image information when it is located at the second identification position 230, and determine whether the sample container 500 is successfully removed based on the height difference of the same sample container 500 determined by the first image information when it is located at the first identification position 220 and the second image information when it is located at the second identification position 230. For example, when a sample container 500 is located at the first identification position 220, the visual recognition mechanism 210 obtains a first single image, and when the sample container 500 moves to the second identification position 230, the visual recognition mechanism 210 obtains a second single image. The first image information of the first single image is the image of the sample container 500 with a cover, and the second image information of the second single image is the image of the sample container 500 after the cover is removed. The height difference of the same sample container 500 determined by the first image information of the first single image and the second image information of the second single image is used to determine whether the sample container 500 is successfully removed. Specifically, when the height difference is 0 or smaller, it means that the cover has not been successfully removed, and when the height difference is larger, it means that the cover has been successfully removed.

[0094] In other embodiments, the controller is further configured to obtain the first image information of the same sample container 500 when it is located at the first identification position 220 and the second image information of the same sample container 500 when it is located at the second identification position 230, and determine whether the sample container 500 is successfully decapped based on the color change of the same sample container 500 determined by the first image information when it is located at the first identification position 220 and the second image information when it is located at the second identification position 230. The first image information and the second image information in this embodiment can be understood with reference to the first image information and the second image information in the aforementioned embodiment of determining successful decapping based on height difference. Specifically, when there is no color change or no obvious color change in the area corresponding to the cover of the first image information and the second image information, it means that the decapping is unsuccessful, and when there is an obvious color change, it means that the decapping is successful.

[0095] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A sample processing system, characterized in that: include: A decapping module, comprising a decapping device and a decapping position, wherein the decapping device is used to decap a sample container located at the decapping position and carried on a sample carrying component; A conveying module, used for driving the sample carrying component to move step by step according to a preset step length, so that the sample containers on the sample carrying component pass through the decapping position in sequence; A visual module, comprising a visual recognition mechanism, a first recognition position and a second recognition position, wherein the first recognition position and the second recognition position are sequentially arranged along the moving direction of the sample carrying component, so that when the transmission module drives the sample carrying component to move, the sample container on the sample carrying component passes through the first recognition position and the second recognition position sequentially; The controller is configured to control the visual recognition mechanism to acquire a single image after the conveying module drives the sample carrying component to move at least one of the preset steps, and the single image includes at least first image information of the sample container located at the first recognition position and second image information of the sample container located at the second recognition position. The controller is also configured to determine whether the sample container located at the first recognition position needs to be decapped based on the first image information, and determine whether the sample container located at the second recognition position is successfully decapped based on the second image information. When it is determined that the sample container located at the first recognition position is a sample container that needs to be decapped, the controller is also configured to control the decapping device to perform a decapping operation when the sample container that needs to be decapped is located at the decapping position.

2. The sample processing system according to claim 1, characterized in that: The first identification position, the cover removal position and the second identification position are sequentially arranged along the moving direction of the sample carrying component; Alternatively, the first identification position and the cover removal position are sequentially arranged along the moving direction of the sample carrying member, and the second identification position and the cover removal position are at the same position; Alternatively, the first identification position and the cover removal position are at the same position, and the cover removal position and the second identification position are arranged in sequence along the moving direction of the sample supporting component.

3. The sample processing system according to claim 1, characterized in that: Along the moving direction of the sample carrying member, the first identification position, the cover removal position and the second identification position are arranged in sequence, or the first identification position and the cover removal position are arranged in sequence, and the second identification position and the cover removal position are in the same position; When the sample container located at the first identification position is a sample container that needs to be removed from the cover, controlling the decapping device to perform a decapping operation when the sample container that needs to be removed from the cover is located at the decapping position, including: controlling the conveying module to convey the sample container that needs to be removed from the first identification position to the decapping position, and then controlling the decapping device to perform a decapping operation on the sample container that needs to be removed from the cover.

4. The sample processing system according to claim 1, characterized in that: Along the moving direction of the sample carrying component, the first identification position and the cover removal position are arranged in sequence, and the second identification position and the cover removal position are at the same position; When the controller determines based on the second image information that the sample container located at the decapping position is not successfully decapped, the controller is further configured to control the decapping device to perform a decapping operation on the sample container located at the decapping position again.

5. The sample processing system according to claim 1, characterized in that: The sample carrying component comprises a sample rack, the sample rack having a plurality of placement holes evenly arranged along a straight line direction, the placement holes being used to place the sample containers, and the preset step length being equal to the center distance between adjacent placement holes; The method of controlling the visual recognition mechanism to acquire a single image after the transmission module drives the sample carrying component to move at least one preset step length comprises: controlling the visual recognition mechanism to acquire a single image after the transmission module drives the sample carrying component to move at least one preset step length.

6. The sample processing system according to claim 1, characterized in that: The decapping device includes a clamping component, and the decapping device is controlled to perform a decapping operation when the sample container that needs to be decapped is located in the decapping position, including: the clamping component lifts the sample container that needs to be decapped and is carried on the sample carrying component and is located in the decapping position from the sample carrying component, and decapsulates the cover of the lifted sample container, and inserts the decapped sample container back into the sample carrying component.

7. The sample processing system according to claim 6, characterized in that: The clamping component includes a first manipulator and a second manipulator, and the controller is configured to control the first manipulator to clamp the cover of the sample container that needs to be removed and is located at the cover removal position and carried on the sample carrying component and lift it, and then control the second manipulator to clamp the body of the sample container that needs to be removed, and control the relative movement between the first manipulator and the second manipulator to separate the cover from the body, and control the second manipulator to insert the body back into the sample carrying component after the cover is separated from the body.

8. The sample processing system according to claim 6, characterized in that: The sample processing system includes at least one of the following schemes: The controller is further configured to acquire a height of the sample container that needs to be uncovered relative to a reference based on the first image information, and control the clamping component to clamp the cover of the sample container that needs to be uncovered based on the height; The controller is further configured to acquire an inclination angle of the sample container that needs to be removed from the cover relative to a reference based on the first image information, and control the clamping component to clamp the cover of the sample container that needs to be removed from the cover based on the inclination angle; The controller is further configured to control the visual recognition mechanism to obtain the sample barcode information of the sample container and / or the sample quality information of the sample to be tested during the process in which the clamping component starts to lift the sample container that needs to be removed and is located at the removal position and carried on the sample carrying component from the sample carrying component until the cover of the lifted sample container is removed; The controller is also configured to control the visual recognition mechanism to obtain the barcode orientation information of the sample container during the process in which the clamping component lifts the sample container that needs to be removed and is located at the removal position and carried on the sample carrying component from the sample carrying component until the cover of the lifted sample container is removed, and control the clamping component to drive the sample container to rotate based on the barcode orientation information so that the barcode of the sample container faces a preset direction, and insert the sample container with the barcode facing the preset direction back into the sample carrying component; The controller is further configured to, after the clamping component removes the cover from the lifted sample container, control the visual recognition mechanism to obtain the height of the sample container relative to the reference before it is inserted back into the sample carrying component, and control the clamping component to drive the sample container to move downward based on the height of the sample container relative to the reference before it is inserted back into the sample carrying component; The controller is also configured to control the visual recognition mechanism to obtain the height of the sample container relative to a reference after the clamping component inserts the uncovered sample container back into the sample carrying component, and to output a warning message when the height of the sample container relative to the reference after being inserted back into the sample carrying component does not conform to a preset range, and / or to control the clamping component to release the sample container and move upward relative to the sample container, and then control the clamping component to clamp the sample container and drive the sample container to move downward.

9. The sample analysis system according to claim 1, characterized in that: The clamping component includes a first manipulator, the first manipulator is used to clamp the cover of the sample container that needs to be removed and is located at the removal position and carried on the sample carrying component, and the removal module also includes a first sensor, the first sensor is used to detect the force applied to the first manipulator when performing the removal operation; The controller is further configured to determine whether the sample container is successfully uncapped based on the force, and when it is determined that the sample container is not successfully uncapped based on at least one of the second image information and the detection result of the first sensor, the controller outputs a warning message; Alternatively, the clamping component includes a first manipulator, which is used to clamp the cover of the sample container that needs to be decapped and is located at the decapping position and carried on the sample carrying component. The decapping module also includes a recovery device and a second sensor. The controller is also configured to control the first manipulator to transfer the clamped cover to the recovery device after performing the decapping operation, and control the second sensor to detect whether the cover enters the recovery device after the first manipulator performs the transfer operation; when it is determined based on the second image information that the sample container is not successfully decapped, and / or when it is determined based on the detection result of the second sensor that the cover has not entered the recovery device, the controller outputs a warning message.

10. The sample processing system according to claim 1, characterized in that: The sample processing system includes at least one of the following schemes: The controller is further configured to input the single image into a neural network, and determine whether the sample container is successfully decapped based on a result output by the neural network; The controller is further configured to obtain the first image information when the same sample container is located at the first identification position and the second image information when the same sample container is located at the second identification position, and determine whether the sample container is successfully decapped based on the height difference of the same sample container determined by the first image information when the same sample container is located at the first identification position and the second image information when the same sample container is located at the second identification position; The controller is also configured to obtain the first image information when the same sample container is located at the first identification position and the second image information when the same sample container is located at the second identification position, and determine whether the sample container is successfully removed based on the color change of the same sample container determined by the first image information when located at the first identification position and the second image information when located at the second identification position.

Images